CN202357165U - Two-dimensional translation and two-dimensional rotation type four-degree-of-freedom parallel robot mechanism - Google Patents
Two-dimensional translation and two-dimensional rotation type four-degree-of-freedom parallel robot mechanism Download PDFInfo
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- CN202357165U CN202357165U CN2011204692376U CN201120469237U CN202357165U CN 202357165 U CN202357165 U CN 202357165U CN 2011204692376 U CN2011204692376 U CN 2011204692376U CN 201120469237 U CN201120469237 U CN 201120469237U CN 202357165 U CN202357165 U CN 202357165U
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Abstract
The utility model discloses a two-dimensional translation and two-dimensional rotation type four-degree-of-freedom parallel robot mechanism, comprising a fixed platform, a movable platform and four branches connecting the fixed platform with the movable platform, and the parallel robot mechanism is characterized in that two guide rails vertical to each other are fixed on the fixed platform, the upper ends of the first branch and the second branch are arranged on the lower side of the movable platform by the same composite spherical hinge, and the lower ends of the first branch and the second branch are arranged on a first guide rail through a composite kinematic pair composed of a moving pair and a revolute pair, which are fixedly connected together; the upper ends of the third branch and the fourth branch are arranged on the lower side of the movable platform through a spherical hinge, and the lower ends of the third branch and the fourth branch are arranged on two branch segments of the second guide rail through a composite kinematic pair composed of a hooke hinge and a moving pair, which are fixedly connected together. The parallel robot mechanism disclosed by the utility model moves on the respective guide rail through the moving pair so as to realize two-dimensional translation and two-dimensional rotation type four-degree-of-freedom movement of the platform. The parallel robot mechanism disclosed by the utility model can be suitable for works needing four-space movement.
Description
Technical field
The utility model belongs to the robot mechanism field, relates in particular to the four-freedom parallel connection robot mechanism that a kind of two-dimensional translation and two-dimensional rotates.
Background technology
Linked to each other by two or more kinematic chains between fixed platform and the motion platform, mechanism has two or more frees degree, and drives the mechanism that is distributed at least on two or more sub-chains and be called parallel institution.Online device physiognomy has series of advantages such as rigidity is big, bearing capacity strong, site error is not accumulated, precision is high, the deadweight duty ratio is little, power performance is good to the serial machine people.Various equipments based on parallel institution become the important supplement that the tradition series connection is equipped, and play a significant role in a lot of fields.At present; Parallel robot is mainly used in fields such as medical surgical equipment, mobile robot, motion simulation, machine-building, automation assembling, Precision Machining and measurement, microelectronics manufacturing and show business, exerts oneself and torque sensor, walker and climbing robot leg and large-scale mine machinery etc. like flight simulator, virtual-shaft machine tool, coordinate measuring machine, jiggle robot, robot.
The lower-mobility parallel robot mechanism has that version is simple, working space is big, the kinematics dynamics Design is simple, mobile decoupling easily, the manufacturing and the control accuracy of mechanical organ required advantages such as lower, receive people's favor further.The lower-mobility parallel robot mechanism also is one of focus of robotics research in the world, constructs the lower-mobility parallel robot with superperformance according to application requirements, is a vital task in the parallel robot mechanism.At present proposing more to lower-mobility parallel robot mechanism type is three-freedom parallel robot mechanism, and four-freedom parallel connection robot mechanism is still few.
Summary of the invention
The purpose of the utility model is to provide a kind of four-freedom parallel connection robot mechanism of two-dimensional translation and two-dimensional rotation; It the space move and rotation combines, advantage such as have that precision and rigidity are high, inertia is little, high dynamic performance, working space are big, have the advantage direction of motion, forward kinematics solution and counter is separated simply.
The purpose of the utility model realizes through following technical scheme: the four-freedom parallel connection robot mechanism that a kind of two-dimensional translation and two-dimensional rotates; Comprise fixed platform 1, moving platform 2, branch 1, branch 26, branch 37, branch 48; Fixed platform 1 is connected with moving platform 2 respectively through four branches; Be fixed with guide rail 1 and guide rail 24 on the said fixed platform 1; The upper end of branch 1, branch 26 is installed in the downside of moving platform 2 through same compound spherical hinge 12, and the lower end connects firmly the compound motion pair that constitutes through one by revolute pair 13 and moving sets 9 respectively and is installed on the guide rail 1; The upper end of branch 37, branch 48 is installed in the downside of moving platform 2 respectively through a ball pivot 11, its lower end connects firmly the compound motion pair that constitutes through one by Hooke's hinge 10 and moving sets 9 respectively and is installed in two segmentations of guide rail 24.
Said guide rail 1 is orthogonal with guide rail 24, and guide rail 24 forms two segmentations breaking off with guide rail one 3 intersections.
The pole length of described branch 1, branch 26, branch 37, branch 48 is fixed value.
The moving sets 10 of said each branch is the active input of this mechanism.
The utlity model has following advantage and beneficial effect:
1, the four-freedom parallel connection robot mechanism of the two-dimensional translation and two-dimensional of the utility model rotation is compared with traditional serial mechanism, has the advantage of high accuracy, high rigidity, low inertia, high dynamic performance;
2, the four-freedom parallel connection robot mechanism forward kinematics solution of the two-dimensional translation and two-dimensional of the utility model rotation, counter separating simply, normal solution has analytic solutions;
3, the utility model has clear and definite forms of motion to the rotation in space and mobile the combination, and promptly two are moved two rotations;
4, the utility model adopts outer secondary Drive Structure, working space and mechanism's volume is bigger, frame for movement is simple, standardization is strong, manufacturability is relatively good;
5, the utility model adopts the sizing bar, has reduced influence of thermal effect to a great extent, has reduced the difficulty that receives thermal compensation.
Description of drawings
Fig. 1 is the structural representation of the four-freedom parallel connection robot mechanism of the utility model.
Among the figure: 1--fixed platform, 2--moving platform, 3--guide rail one, 4--guide rail two, 5--branch one, 6--branch two, 7--branch three, 8--branch four, 9--moving sets, 10--Hooke's hinge, 11--ball pivot, 12--compound spherical hinge, 13--revolute pair.
The specific embodiment
For better understanding the utility model, below in conjunction with accompanying drawing the utility model is explained further details, but the embodiment of the utility model is not limited thereto.
Embodiment
As shown in Figure 1; The four-freedom parallel connection robot mechanism that the two-dimensional translation and two-dimensional of the utility model rotates; Comprise fixed platform 1, moving platform 2, branch 1, branch 26, branch 37, branch 48; Fixed platform 1 is connected with moving platform 2 respectively through four branches; Be fixed with guide rail 1 and guide rail 24 on the said fixed platform 1, the upper end of branch 1, branch 26 is installed in the downside of moving platform 2 through same compound spherical hinge 12, and the lower end connects firmly the compound motion pair that constitutes through one by revolute pair 13 and moving sets 9 respectively and is installed on the guide rail 1; The upper end of branch 37, branch 48 is installed in the downside of moving platform 2 respectively through a ball pivot 11, its lower end connects firmly the compound motion pair that constitutes through one by Hooke's hinge 10 and moving sets 9 respectively and is installed in two segmentations of guide rail 24.
Above-mentioned guide rail 1 is orthogonal with guide rail 24, and guide rail 24 breaks off with guide rail one 3 intersections.The pole length of branch 1, branch 26, branch 37, branch 48 is fixed value.Branch 1 and branch's 26 shared guide rails 1, the upper end of branch 1, branch 26 links to each other with moving platform 2 through same compound spherical hinge 12, can strengthen the whole rigidity of mechanism.
The moving sets 9 of each branch is the active input of the utility model.Each branch moves on guide rail separately through moving sets 9, and the moving platform 2 of this sample mechanism just has two translations and two rotational freedoms, can realize the motion of moving platform four-degree-of-freedom.
The utility model is the rotation in space and move combination, has clear and definite forms of motion, and adopts the sizing bar, has reduced influence of thermal effect to a great extent, has reduced the difficulty that receives thermal compensation; The utility model is owing to adopt outer secondary Drive Structure in addition, and working space is with mechanism's volume is bigger, frame for movement is simple, standardization is strong, manufacturability is relatively good, the advantage of have high accuracy, high rigidity, hanging down inertia, high dynamic performance.
The foregoing description is the utility model preferred implementation; But the bright embodiment of we is not restricted to the described embodiments; Other any do not deviate from change, the modification done under spirit and the principle of the utility model, substitutes, combination, simplify; All should be the substitute mode of equivalence, be included within the protection domain of the utility model.
Claims (4)
1. the four-freedom parallel connection robot mechanism that rotates of a two-dimensional translation and two-dimensional; Comprise fixed platform (1), moving platform (2), branch one (5), branch two (6), branch three (7), branch four (8); Fixed platform (1) is connected with moving platform (2) respectively through four branches; It is characterized in that being fixed with on the said fixed platform (1) guide rail one (3) and guide rail two (4); The upper end of branch one (5), branch two (6) is installed in the downside of moving platform (2) through same compound spherical hinge (12), and the lower end is installed on the guide rail one (3) through a compound motion pair that connects firmly formation by revolute pair (13) and moving sets (9) respectively; The upper end of branch three (7), branch four (8) is installed in the downside of moving platform (2) respectively through a ball pivot (11), its lower end is installed in two segmentations of guide rail two (4) through a compound motion pair that connects firmly formation by Hooke's hinge (10) and moving sets (9) respectively.
2. four-freedom parallel connection robot mechanism according to claim 1 it is characterized in that said guide rail one (3) is orthogonal with guide rail two (4), and guide rail two (4) forms two segmentations breaking off with guide rail one (3) intersection.
3. four-freedom parallel connection robot mechanism according to claim 1 is characterized in that the pole length of said branch one (5), branch two (6), branch three (7), branch four (8) is fixed value.
4. four-freedom parallel connection robot mechanism according to claim 1, the moving sets (10) that it is characterized in that said each branch is the active input of this mechanism.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011204692376U CN202357165U (en) | 2011-11-23 | 2011-11-23 | Two-dimensional translation and two-dimensional rotation type four-degree-of-freedom parallel robot mechanism |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2011204692376U CN202357165U (en) | 2011-11-23 | 2011-11-23 | Two-dimensional translation and two-dimensional rotation type four-degree-of-freedom parallel robot mechanism |
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| CN202357165U true CN202357165U (en) | 2012-08-01 |
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| CN2011204692376U Expired - Fee Related CN202357165U (en) | 2011-11-23 | 2011-11-23 | Two-dimensional translation and two-dimensional rotation type four-degree-of-freedom parallel robot mechanism |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102398264A (en) * | 2011-11-23 | 2012-04-04 | 华南理工大学 | Two-dimensional translational and two-dimensional rotary four-freedom parallel robot mechanism |
| CN113561157A (en) * | 2020-12-29 | 2021-10-29 | 燕山大学 | Two-rotation two-movement four-freedom-degree parallel mechanism |
-
2011
- 2011-11-23 CN CN2011204692376U patent/CN202357165U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102398264A (en) * | 2011-11-23 | 2012-04-04 | 华南理工大学 | Two-dimensional translational and two-dimensional rotary four-freedom parallel robot mechanism |
| CN113561157A (en) * | 2020-12-29 | 2021-10-29 | 燕山大学 | Two-rotation two-movement four-freedom-degree parallel mechanism |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120801 Termination date: 20151123 |